Automatic welding mechanism for tunnel steel arch

Abstract

The utility model relates to the technical field of steel arch machining, in particular to an automatic welding mechanism for a tunnel steel arch. Comprising two sets of sliding table bases, an alignment assembly, a conveying chain mechanism, a gear lever air cylinder, a clamping mechanism, a welding robot, a connecting plate grabbing robot and a turnover positioner, the two sets of sliding table bases are symmetrically arranged, the alignment assembly is arranged on the sliding table bases, the conveying chain mechanism is fixedly arranged on the sliding table bases, and the gear lever air cylinder and the clamping mechanism are correspondingly arranged on the sliding table bases; a turnover positioner is arranged on the side, away from the clamping mechanism, of the gear lever air cylinder, the welding robot and the connecting plate grabbing robot are arranged on the sliding table base, and the welding robot and the connecting plate grabbing robot are arranged on the side, away from the clamping mechanism, of the alignment assembly. The mechanism solves the problems of high labor intensity, low positioning precision and efficiency bottleneck in the traditional process, the production cost is remarkably reduced, and intelligent upgrading of tunnel supporting member manufacturing is promoted. The automatic welding device is mainly applied to automatic welding of the steel arches.

Description

Technical Field

[0001] This utility model relates to the field of steel arch frame processing technology, and more specifically, to an automatic welding mechanism for tunnel steel arch frames. Background Technology

[0002] In tunnel support engineering, steel arch frames serve as the core load-bearing structure, and their welding quality directly affects the reliability and durability of the support system. Traditional steel arch frame welding processes mainly rely on manual operation and semi-automated equipment. When steel arch frames are joined, manual adjustment of their left and right positions and end face alignment is required, which is greatly influenced by the operator's experience and is prone to alignment deviations, usually greater than 3mm. This results in poor matching between the connecting plate and the end face of the steel arch frame, leading to unstable weld quality. In existing welding lines, the clamping, flipping, and secondary welding of steel arch frames require multiple manual interventions (such as changing workstations and adjusting fixtures), resulting in low process efficiency and safety hazards due to manual handling. For steel arch frames with different cross-sectional dimensions or curvatures, traditional equipment requires the replacement of special fixtures or recalibration of welding paths, with debugging time taking up to several hours, making it difficult to meet the needs of multi-specification, small-batch production. Utility Model Content

[0003] To overcome the shortcomings of the existing technology, this utility model provides an automatic welding mechanism for tunnel steel arch frames. This mechanism automatically grasps and positions the connecting plates, and then automatically welds them. The equipment boasts high welding efficiency, high precision due to servo motor control of the flipping position, and automatic conveying, grasping, and welding of the connecting plates, thus reducing the labor intensity of workers and achieving the goals of reducing labor costs and improving industrial efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0005] An automatic welding mechanism for tunnel steel arch frames includes a slide base, an alignment assembly, a conveyor chain mechanism, a stop cylinder, a clamping mechanism, a welding robot, a connecting plate gripping robot, and a flipping and positioning machine. Two sets of slide bases are symmetrically arranged. The alignment assembly is mounted on the slide base. The conveyor chain mechanism is fixedly mounted on the slide base. The stop cylinder and clamping mechanism are correspondingly mounted on the slide base. A flipping and positioning machine is located on the side of the stop cylinder away from the clamping mechanism. The welding robot and connecting plate gripping robot are mounted on the slide base, and are located on the side of the alignment assembly away from the clamping mechanism.

[0006] The alignment assembly includes an alignment push plate carriage and an alignment push plate. The alignment push plate carriage is fixedly mounted on the slide base, and a slide rail is provided on the alignment push plate carriage. The alignment push plate is mounted on the alignment push plate carriage via the slide rail.

[0007] A positioner slide is provided on the slide base. The stop cylinder, clamping mechanism and tilting positioner are provided on the positioner slide. A positioner travel motor is provided on the positioner slide and is connected to the slide base.

[0008] The clamping mechanism is provided with a clamping lifting platform at its bottom, and the clamping lifting platform is fixedly mounted on the positioner slide.

[0009] A robot slide is provided on the slide base. The welding robot and the connecting plate gripping robot are fixedly mounted on the robot slide. A robot slide walking motor is provided on the robot slide and is connected to the slide base.

[0010] Two sets of welding robots are symmetrically arranged, and one set of connecting plate gripping robots is symmetrically arranged. The two sets of welding robots are respectively arranged on both sides of the flipping and positioning machine. A 3D camera is installed on the welding robot, and a system controller is installed on the robot slide. The welding robot and the 3D camera are both electrically connected to the system controller.

[0011] A gun cleaning station is installed on the robot's slide.

[0012] A connecting plate positioning seat is provided on one side of the connecting plate gripping robot, and the connecting plate positioning seat is set on the slide base.

[0013] Compared with existing technologies, the advantages of this invention are as follows: The servo motor precisely controls the flipping angle of the positioner and the displacement of the positioner slide, combined with a D-camera scanning the steel arch end face to generate point cloud data. The system controller achieves sub-millimeter-level positioning, driving the connecting plate gripping robot to automatically grip and precisely place the connecting plate. The conveyor chain mechanism and the dual-station welding robot work together to complete the entire process of automatic conveying, clamping, and double-sided welding of the steel arch, increasing welding efficiency by more than double. The equipment integrates automatic centering, flipping, welding, and unloading functions, reducing manual intervention, lowering labor intensity, and increasing single-shift productivity. Furthermore, servo closed-loop control and secondary visual correction ensure a weld defect rate of less than 90%, solving the problems of high labor intensity, low positioning accuracy, and efficiency bottlenecks in traditional processes. This significantly reduces production costs and promotes the intelligent upgrading of tunnel support component manufacturing. Attached Figure Description

[0014] Figure 1 This is a top view of the overall design of this utility model;

[0015] Figure 2 This is a schematic diagram of the equipment structure on one side of this utility model;

[0016] Figure 3 This is a schematic diagram of the structure of one side of the device from another angle in this utility model;

[0017] Figure 4 This is a schematic diagram of the clamping mechanism in this utility model. In the figure: 1 is the slide base, 2 is the alignment push plate slide, 3 is the alignment push plate, 4 is the conveyor chain mechanism, 5 is the positioner slide, 6 is the positioner slide travel motor, 7 is the stop cylinder, 8 is the clamping mechanism, 9 is the clamping lifting platform, 10 is the robot slide, 11 is the robot slide travel motor, 12 is the welding robot, 13 is the 3D camera, 14 is the cleaning gun station, 15 is the connecting plate gripping robot, 16 is the connecting plate positioning seat, 17 is the flipping positioner, and 18 is the system controller. Detailed Implementation

[0018] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0019] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0020] like Figures 1 to 4 As shown, an automatic welding mechanism for tunnel steel arch frames includes a slide base 1, an alignment assembly, a conveyor chain mechanism 4, a stop cylinder 7, a clamping mechanism 8, a welding robot 12, a connecting plate gripping robot 15, and a flipping and positioning machine 17. Two sets of slide bases are symmetrically arranged. The alignment assembly is set on the slide base 1. The conveyor chain mechanism 4 is fixedly set on the slide base 1. The stop cylinder 7 and the clamping mechanism 8 are correspondingly set on the slide base 1. The flipping and positioning machine 17 is set on the side of the stop cylinder 7 away from the clamping mechanism 8. The welding robot 12 and the connecting plate gripping robot 15 are set on the slide base 1. The welding robot 12 and the connecting plate gripping robot 15 are set on the side of the alignment assembly away from the clamping mechanism 8.

[0021] Preferably, the alignment assembly includes an alignment pusher slide 2 and an alignment pusher 3. The alignment pusher slide 2 is fixedly mounted on the slide base 1, and a slide rail is provided on the alignment pusher slide 2. The alignment pusher 3 is mounted on the alignment pusher slide 2 via the slide rail.

[0022] Preferably, a positioner slide 5 is provided on the slide base 1, and a stop cylinder 7, a clamping mechanism 8 and a flipping positioner 17 are provided on the positioner slide 5. A positioner travel motor 6 is provided on the positioner slide 5 and is connected to the slide base 1.

[0023] Preferably, the clamping mechanism 8 is provided with a clamping lifting platform 9 at its bottom, and the clamping lifting platform 9 is fixedly mounted on the positioner slide table 5.

[0024] Preferably, a robot slide 10 is provided on the slide base 1, and a welding robot 12 and a connecting plate gripping robot 15 are fixedly installed on the robot slide 10. A robot slide walking motor 11 is provided on the robot slide 10 and is connected to the slide base 1.

[0025] Preferably, two sets of welding robots are symmetrically arranged, one set of connecting plate gripping robots 15 is symmetrically arranged, and the two sets of welding robots 12 are respectively arranged on both sides of the flipping and positioning machine 17. A 3D camera 13 is installed on the welding robot 12, and a system controller 18 is installed on the robot slide 10. Both the welding robot 12 and the 3D camera 13 are electrically connected to the system controller 18.

[0026] Preferably, a cleaning station 14 is provided on the robot slide 10.

[0027] Preferably, a connecting plate positioning seat 16 is provided on one side of the connecting plate gripping robot 15, and the connecting plate positioning seat 16 is set on the slide base 1.

[0028] The steel arch frame is automatically conveyed to the position of the steel arch frame alignment push plate 3. The left and right steel arch frame alignment push plates 3 are pushed by cylinders to complete the left and right centering and positioning of the steel arch frame. The conveyor chain mechanism 4 conveys the steel arch frame to the position of the clamping mechanism 8. The stop cylinder 7 rises, the clamping mechanism 8 rises, and clamps the steel arch frame. The welding robot 12 is equipped with a 3D camera 13 to scan the positioned end face of the steel arch frame. After the scan is completed, a point cloud map is generated. The system controller 18 matches the processed data with the template. The system automatically identifies the actual position of the end face of the steel arch frame. The connecting plate gripping robot 15 picks up the precisely positioned connecting plate and connects the steel arch frame to the end face of the welding robot. The connecting plate is aligned and placed at the end of the steel arch frame. The welding robot 12 completes the weld on one side of the connecting plate. After welding, the clamping mechanism 8 is released and lowered. The stop cylinder 7 also drops, and the chain conveyor mechanism 4 continues to transport the steel arch frame to the flipping and positioning machine 17. The flipping and positioning machine 17 clamps the steel arch frame and flips it 180°. Visual imaging identifies the weld on the other side of the arch frame connecting plate. The welding robot 12 completes the weld. Then, the flipping and positioning machine 17 reverses 90° to prepare for the steel arch frame unloading. By adjusting the positions of the positioner slide 5 and the robot slide 10, the automatic welding of steel arch frames of different specifications and models can be completed. The above is only a detailed description of the preferred embodiment of this utility model. However, this utility model is not limited to the above embodiment. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this utility model, and all such changes should be included within the protection scope of this utility model.

Claims

1. An automatic welding mechanism for tunnel steel arch frames, characterized in that: The system includes a slide base (1), an alignment assembly, a conveyor chain mechanism (4), a stop cylinder (7), a clamping mechanism (8), a welding robot (12), a connecting plate gripping robot (15), and a flipping and positioning machine (17). The slide base (1) is symmetrically arranged in two sets. The alignment assembly is arranged on the slide base (1). The conveyor chain mechanism (4) is fixedly arranged on the slide base (1). The stop cylinder (7) and the clamping mechanism (8) are respectively arranged on the slide base (1). The flipping and positioning machine (17) is arranged on the side of the stop cylinder (7) away from the clamping mechanism (8). The welding robot (12) and the connecting plate gripping robot (15) are arranged on the slide base (1). The welding robot (12) and the connecting plate gripping robot (15) are arranged on the side of the alignment assembly away from the clamping mechanism (8).

2. The automatic welding mechanism for tunnel steel arch frames according to claim 1, characterized in that: The alignment assembly includes an alignment pusher slide (2) and an alignment pusher (3). The alignment pusher slide (2) is fixedly mounted on the slide base (1). The alignment pusher slide (2) is provided with a slide rail. The alignment pusher (3) is mounted on the alignment pusher slide (2) via the slide rail.

3. The automatic welding mechanism for tunnel steel arch frames according to claim 1, characterized in that: The slide base (1) is provided with a positioner slide (5), the stop cylinder (7), the clamping mechanism (8) and the flipping positioner (17) are provided on the positioner slide (5), the positioner slide (5) is provided with a positioner walking motor (6), and the positioner walking motor (6) is connected to the slide base (1).

4. The automatic welding mechanism for tunnel steel arch frames according to claim 3, characterized in that: The clamping mechanism (8) is provided with a clamping lifting platform (9) at its bottom, and the clamping lifting platform (9) is fixedly installed on the positioner slide (5).

5. The automatic welding mechanism for tunnel steel arch frames according to claim 1, characterized in that: A robot slide (10) is provided on the slide base (1). The welding robot (12) and the connecting plate gripping robot (15) are fixedly installed on the robot slide (10). A robot slide walking motor (11) is provided on the robot slide (10). The robot slide walking motor (11) is connected to the slide base (1).

6. The automatic welding mechanism for tunnel steel arch frames according to claim 5, characterized in that: Two sets of welding robots are symmetrically arranged, one set of connecting plate gripping robots (15) is symmetrically arranged, and two sets of welding robots (12) are respectively arranged on both sides of the flipping and positioning machine (17). A 3D camera (13) is provided on the welding robot (12), and a system controller (18) is provided on the robot slide (10). The welding robot (12) and the 3D camera (13) are both electrically connected to the system controller (18).

7. The automatic welding mechanism for tunnel steel arch frames according to claim 5, characterized in that: A gun cleaning station (14) is provided on the robot slide (10).

8. The automatic welding mechanism for tunnel steel arch frames according to claim 5, characterized in that: The connecting plate gripping robot (15) is provided with a connecting plate positioning seat (16) on one side, and the connecting plate positioning seat (16) is provided on the slide base (1).

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